rl-collision-avoidance

This is a Pytorch implementation of the paper Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning

Requirement

• python2.7
• ROS Kinetic
• mpi4py
• Stage
• PyTorch

How to train

Please use the stage_ros-add_pose_and_crash package instead of the default package provided by ROS.

mkdir -p catkin_ws/src
cp stage_ros-add_pose_and_crash catkin_ws/src
cd catkin_ws
catkin_make
source devel/setup.bash

To train Stage1, modify the hyper-parameters in ppo_stage1.py as you like, and running the following command:

rosrun stage_ros_add_pose_and_crash stageros -g worlds/stage1.world
mpiexec -np 24 python ppo_stage1.py

To train Stage2, modify the hyper-parameters in ppo_stage2.py as you like, and running the following command:

rosrun stage_ros_add_pose_and_crash stageros -g worlds/stage2.world
mpiexec -np 44 python ppo_stage2.py

How to test

rosrun stage_ros_add_pose_and_crash stageros worlds/circle.world
mpiexec -np 50 python circle_test.py

How to run stage2 for train robot with 360-laser

mpiexec --allow-run-as-root -np 35 python ppo_stage2.py